1. 基本环境描述，操作系统ubuntu 20.04 Focal Fossa，显卡是NVIDIA GeForce RTX 3090；
2. 软件环境描述，显卡驱动版本使用535；安装了anaconda；isaacgym的python版本为**；isaacsim的python版本为**；
3. 分别按照指引安装了isaacsim和isaacgym的仿真器；
isaacsim：
isaacgym:Isaac Gym - Preview Release | NVIDIA Developer
https://developer.nvidia.com/isaac-gym
4.安装配置Env软件包
isaacsim: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs
isaacgym:https://github.com/NVIDIA-Omniverse/IsaacGymEnvs
软件包安装对pytorch有版本要求，pytorh对CUDA版本有要求，对python的版本也有要求，其对应关系在如下网站查找，有时会出现冲突，最直接的方法是参照环境已配置成功的主机进行版本选择CUDA版本。
Previous PyTorch Versions | PyTorch
------------------------------------------------------------------------------------------------------------------
查看显卡驱动版本
nvidia-smi
查看cuda版本，cuda版本不应该高于nvidia-smi中的CUDA Version
自动安装将会使用自动创建rlgpu的虚拟环境，可以手动创建虚拟环境，pip安装需要的软件包。
isaacgym env
conda activate rlgpuconda deactivatepip listPackage Version Editable project location
------------------------ --------------- ------------------------------------
absl-py 1.3.0
aiohttp 3.8.3
aiosignal 1.2.0
antlr4-python3-runtime 4.9.3
async-timeout 4.0.2
asynctest 0.13.0
attrs 22.1.0
blinker 1.4
brotlipy 0.7.0
cachetools 4.2.2
certifi 2022.12.7
cffi 1.15.1
charset-normalizer 2.0.4
click 8.0.4
cloudpickle 2.2.1
cryptography 39.0.1
decorator 5.1.1
docker-pycreds 0.4.0
flit_core 3.6.0
freetype-py 2.4.0
frozenlist 1.3.3
gitdb 4.0.11
GitPython 3.1.40
google-auth 1.33.0
google-auth-oauthlib 0.4.4
grpcio 1.42.0
gym 0.23.1
gym-notices 0.0.8
Hydra 2.5
hydra-core 1.3.2
idna 3.4
imageio 2.31.2
importlib-metadata 4.11.3
importlib-resources 5.12.0
isaacgym 1.0rc4 /home/zhhw/Downloads/isaacgym/python
isaacgymenvs 1.5.1 /home/zhhw/github/IsaacGymEnvs
Jinja2 3.1.2
lxml 4.9.4
Markdown 3.4.1
MarkupSafe 2.1.1
mkl-fft 1.3.0
mkl-random 1.1.1
mkl-service 2.3.0
multidict 6.0.2
networkx 2.2
ninja 1.11.1.1
numpy 1.21.6
nvidia-cublas-cu11 11.10.3.66
nvidia-cuda-nvrtc-cu11 11.7.99
nvidia-cuda-runtime-cu11 11.7.99
nvidia-cudnn-cu11 8.5.0.96
oauthlib 3.2.1
omegaconf 2.3.0
opencv-python 4.8.1.78
packaging 23.2
pathtools 0.1.2
Pillow 9.3.0
pip 22.3.1
promise 2.3
protobuf 3.20.3
psutil 5.9.7
pyasn1 0.4.8
pyasn1-modules 0.2.8
pycollada 0.6
pycparser 2.21
pyglet 2.0.10
PyJWT 2.4.0
PyOpenGL 3.1.0
pyOpenSSL 23.0.0
pyrender 0.1.45
pysdf 0.1.9
PySocks 1.7.1
python-dateutil 2.8.2
PyVirtualDisplay 3.0
PyYAML 6.0.1
requests 2.28.1
requests-oauthlib 1.3.0
rl-games 1.6.1
rsa 4.7.2
scipy 1.5.0
sentry-sdk 1.39.1
setproctitle 1.3.3
setuptools 65.6.3
shortuuid 1.0.11
six 1.16.0
smmap 5.0.1
tensorboard 2.11.2
tensorboard-data-server 0.6.1
tensorboard-plugin-wit 1.8.1
tensorboardX 2.6.2.2
termcolor 2.3.0
torch 1.13.1
torchaudio 0.7.0a0+a853dff
torchvision 0.14.1
trimesh 3.23.5
typing_extensions 4.4.0
urdfpy 0.0.22
urllib3 1.26.14
wandb 0.12.21
warp-lang 0.10.1
Werkzeug 2.2.2
wheel 0.38.4
yarl 1.8.1
zipp 3.11.0
退出虚拟环境，此处是isaac sim的软件包版本配置
pip listPackage Version
----------------------------- ---------------
aiobotocore 2.5.0
aiofiles 22.1.0
aiohttp 3.8.5
aioitertools 0.7.1
aiosignal 1.2.0
aiosqlite 0.18.0
alabaster 0.7.12
anaconda-anon-usage 0.4.2
anaconda-catalogs 0.2.0
anaconda-client 1.12.1
anaconda-cloud-auth 0.1.3
anaconda-navigator 2.5.0
anaconda-project 0.11.1
anyio 3.5.0
appdirs 1.4.4
argon2-cffi 21.3.0
argon2-cffi-bindings 21.2.0
arrow 1.2.3
astroid 2.14.2
astropy 5.1
asttokens 2.0.5
async-timeout 4.0.2
atomicwrites 1.4.0
attrs 22.1.0
Automat 20.2.0
autopep8 1.6.0
Babel 2.11.0
backcall 0.2.0
backports.functools-lru-cache 1.6.4
backports.tempfile 1.0
backports.weakref 1.0.post1
bcrypt 3.2.0
beautifulsoup4 4.12.2
binaryornot 0.4.4
black 0.0
bleach 4.1.0
bokeh 3.2.1
boltons 23.0.0
botocore 1.29.76
Bottleneck 1.3.5
brotlipy 0.7.0
certifi 2023.7.22
cffi 1.15.1
chardet 4.0.0
charset-normalizer 2.0.4
click 8.0.4
cloudpickle 2.2.1
clyent 1.2.2
colorama 0.4.6
colorcet 3.0.1
comm 0.1.2
conda 23.7.4
conda-build 3.26.1
conda-content-trust 0.2.0
conda_index 0.3.0
conda-libmamba-solver 23.7.0
conda-pack 0.6.0
conda-package-handling 2.2.0
conda_package_streaming 0.9.0
conda-repo-cli 1.0.75
conda-token 0.4.0
conda-verify 3.4.2
constantly 15.1.0
contourpy 1.0.5
cookiecutter 1.7.3
cryptography 41.0.3
cssselect 1.1.0
cycler 0.11.0
cytoolz 0.12.0
daal4py 2023.1.1
dask 2023.6.0
datasets 2.12.0
datashader 0.15.2
datashape 0.5.4
debugpy 1.6.7
decorator 5.1.1
defusedxml 0.7.1
diff-match-patch 20200713
dill 0.3.6
distributed 2023.6.0
docstring-to-markdown 0.11
docutils 0.18.1
entrypoints 0.4
et-xmlfile 1.1.0
executing 0.8.3
fastjsonschema 2.16.2
filelock 3.9.0
flake8 6.0.0
Flask 2.2.2
fonttools 4.25.0
frozenlist 1.3.3
fsspec 2023.4.0
future 0.18.3
gensim 4.3.0
glob2 0.7
gmpy2 2.1.2
greenlet 2.0.1
h5py 3.9.0
HeapDict 1.0.1
holoviews 1.17.1
huggingface-hub 0.15.1
hvplot 0.8.4
hyperlink 21.0.0
idna 3.4
imagecodecs 2023.1.23
imageio 2.31.1
imagesize 1.4.1
imbalanced-learn 0.10.1
importlib-metadata 6.0.0
incremental 21.3.0
inflection 0.5.1
iniconfig 1.1.1
intake 0.6.8
intervaltree 3.1.0
ipykernel 6.25.0
ipython 8.15.0
ipython-genutils 0.2.0
ipywidgets 8.0.4
isort 5.9.3
itemadapter 0.3.0
itemloaders 1.0.4
itsdangerous 2.0.1
jaraco.classes 3.2.1
jedi 0.18.1
jeepney 0.7.1
jellyfish 1.0.1
Jinja2 3.1.2
jinja2-time 0.2.0
jmespath 0.10.0
joblib 1.2.0
json5 0.9.6
jsonpatch 1.32
jsonpointer 2.1
jsonschema 4.17.3
jupyter 1.0.0
jupyter_client 7.4.9
jupyter-console 6.6.3
jupyter_core 5.3.0
jupyter-events 0.6.3
jupyter-server 1.23.4
jupyter_server_fileid 0.9.0
jupyter_server_ydoc 0.8.0
jupyter-ydoc 0.2.4
jupyterlab 3.6.3
jupyterlab-pygments 0.1.2
jupyterlab_server 2.22.0
jupyterlab-widgets 3.0.5
kaleido 0.2.1
keyring 23.13.1
kiwisolver 1.4.4
lazy_loader 0.2
lazy-object-proxy 1.6.0
libarchive-c 2.9
libmambapy 1.5.1
linkify-it-py 2.0.0
llvmlite 0.40.0
lmdb 1.4.1
locket 1.0.0
lxml 4.9.3
lz4 4.3.2
Markdown 3.4.1
markdown-it-py 2.2.0
MarkupSafe 2.1.1
matplotlib 3.7.2
matplotlib-inline 0.1.6
mccabe 0.7.0
mdit-py-plugins 0.3.0
mdurl 0.1.0
mistune 0.8.4
mkl-fft 1.3.8
mkl-random 1.2.4
mkl-service 2.4.0
more-itertools 8.12.0
mpmath 1.3.0
msgpack 1.0.3
multidict 6.0.2
multipledispatch 0.6.0
multiprocess 0.70.14
munkres 1.1.4
mypy-extensions 1.0.0
navigator-updater 0.4.0
nbclassic 0.5.5
nbclient 0.5.13
nbconvert 6.5.4
nbformat 5.9.2
nest-asyncio 1.5.6
networkx 3.1
nltk 3.8.1
notebook 6.5.4
notebook_shim 0.2.2
numba 0.57.1
numexpr 2.8.4
numpy 1.24.3
numpydoc 1.5.0
openpyxl 3.0.10
packaging 23.1
pandas 2.0.3
pandocfilters 1.5.0
panel 1.2.3
param 1.13.0
parsel 1.6.0
parso 0.8.3
partd 1.4.0
pathlib 1.0.1
pathspec 0.10.3
patsy 0.5.3
pep8 1.7.1
pexpect 4.8.0
pickleshare 0.7.5
Pillow 9.4.0
pip 23.2.1
pkce 1.0.3
pkginfo 1.9.6
platformdirs 3.10.0
plotly 5.9.0
pluggy 1.0.0
ply 3.11
poyo 0.5.0
prometheus-client 0.14.1
prompt-toolkit 3.0.36
Protego 0.1.16
psutil 5.9.0
ptyprocess 0.7.0
pure-eval 0.2.2
py-cpuinfo 8.0.0
pyarrow 11.0.0
pyasn1 0.4.8
pyasn1-modules 0.2.8
pycodestyle 2.10.0
pycosat 0.6.4
pycparser 2.21
pyct 0.5.0
pycurl 7.45.2
pydantic 1.10.8
PyDispatcher 2.0.5
pydocstyle 6.3.0
pyerfa 2.0.0
pyflakes 3.0.1
Pygments 2.15.1
PyJWT 2.4.0
pylint 2.16.2
pylint-venv 2.3.0
pyls-spyder 0.4.0
pyodbc 4.0.34
pyOpenSSL 23.2.0
pyparsing 3.0.9
PyQt5-sip 12.11.0
pyrsistent 0.18.0
PySocks 1.7.1
pytest 7.4.0
python-dateutil 2.8.2
python-dotenv 0.21.0
python-json-logger 2.0.7
python-lsp-black 1.2.1
python-lsp-jsonrpc 1.0.0
python-lsp-server 1.7.2
python-slugify 5.0.2
python-snappy 0.6.1
pytoolconfig 1.2.5
pytz 2023.3.post1
pyviz-comms 2.3.0
PyWavelets 1.4.1
pyxdg 0.27
PyYAML 6.0
pyzmq 23.2.0
QDarkStyle 3.0.2
qstylizer 0.2.2
QtAwesome 1.2.2
qtconsole 5.4.2
QtPy 2.2.0
queuelib 1.5.0
regex 2022.7.9
requests 2.31.0
requests-file 1.5.1
requests-toolbelt 1.0.0
responses 0.13.3
rfc3339-validator 0.1.4
rfc3986-validator 0.1.1
rope 1.7.0
Rtree 1.0.1
ruamel.yaml 0.17.21
ruamel-yaml-conda 0.17.21
s3fs 2023.4.0
safetensors 0.3.2
scikit-image 0.20.0
scikit-learn 1.3.0
scikit-learn-intelex 20230426.111612
scipy 1.11.1
Scrapy 2.8.0
seaborn 0.12.2
SecretStorage 3.3.1
Send2Trash 1.8.0
service-identity 18.1.0
setuptools 68.0.0
sip 6.6.2
six 1.16.0
smart-open 5.2.1
sniffio 1.2.0
snowballstemmer 2.2.0
sortedcontainers 2.4.0
soupsieve 2.4
Sphinx 5.0.2
sphinxcontrib-applehelp 1.0.2
sphinxcontrib-devhelp 1.0.2
sphinxcontrib-htmlhelp 2.0.0
sphinxcontrib-jsmath 1.0.1
sphinxcontrib-qthelp 1.0.3
sphinxcontrib-serializinghtml 1.1.5
spyder 5.4.3
spyder-kernels 2.4.4
SQLAlchemy 1.4.39
stack-data 0.2.0
statsmodels 0.14.0
sympy 1.11.1
tables 3.8.0
tabulate 0.8.10
TBB 0.2
tblib 1.7.0
tenacity 8.2.2
terminado 0.17.1
text-unidecode 1.3
textdistance 4.2.1
threadpoolctl 2.2.0
three-merge 0.1.1
tifffile 2023.4.12
tinycss2 1.2.1
tldextract 3.2.0
tokenizers 0.13.2
toml 0.10.2
tomlkit 0.11.1
toolz 0.12.0
tornado 6.3.2
tqdm 4.65.0
traitlets 5.7.1
transformers 4.32.1
Twisted 22.10.0
typing_extensions 4.7.1
tzdata 2023.3
uc-micro-py 1.0.1
ujson 5.4.0
Unidecode 1.2.0
urllib3 1.26.16
w3lib 1.21.0
watchdog 2.1.6
wcwidth 0.2.5
webencodings 0.5.1
websocket-client 0.58.0
Werkzeug 2.2.3
whatthepatch 1.0.2
wheel 0.38.4
widgetsnbextension 4.0.5
wrapt 1.14.1
wurlitzer 3.0.2
xarray 2023.6.0
xxhash 2.0.2
xyzservices 2022.9.0
y-py 0.5.9
yapf 0.31.0
yarl 1.8.1
ypy-websocket 0.8.2
zict 2.2.0
zipp 3.11.0
zope.interface 5.4.0
zstandard 0.19.0
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